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// | |
// | |
// | |
#include "MovingBrain.h" | |
#include <Servo.h> | |
#include "Config.h" | |
#include "Origo.h" | |
char * MovingBrain::getName() | |
{ | |
return "Moving Brain"; | |
} | |
void MovingBrain::initialize() | |
{ | |
//init servo | |
forwardServo.attach(MOVING_FORWARD_SERVO_PIN); | |
forwardServo.write(MOVING_FORWARD_SERVO_CENTER); | |
//TODO init motor | |
} | |
int MovingBrain::tick() | |
{ | |
//Assign servos values | |
int command = Origo::instance().steer; //Steer command is between -100 and 100 | |
int commandClamped = command * MOVING_FORWARD_SERVO_SWIPE / 100;//Clamped is between -60 and +60 | |
int servoCommand = commandClamped + MOVING_FORWARD_SERVO_CENTER;//Command is now in the correct range | |
forwardServo.write(servoCommand); | |
/*DEBUG_PRINT("SERVO IS AT "); | |
DEBUG_PRINT(servoCommand); | |
DEBUG_PRINT("\n");*/ | |
//TODO assign motor values | |
} |